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<div class="title">3dsc.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
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<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *  $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_FEATURES_3DSC_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_FEATURES_3DSC_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/features/boost.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT = pcl::ShapeContext1980&gt;</div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html">   72</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_shape_context3_d_estimation.html">ShapeContext3DEstimation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals</a>&lt;PointInT, PointNT, PointOutT&gt;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;ShapeContext3DEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const ShapeContext3DEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::feature_name_</a>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_parameter_</a>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_radius_</a>;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::surface_</a>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::searchForNeighbors</a>;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals&lt;PointInT, PointNT, PointOutT&gt;::normals_</a>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudOut</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudIn</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#aec9b00c71722e6956c4769a64c8558be">   95</a></span>&#160;      <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#aec9b00c71722e6956c4769a64c8558be">ShapeContext3DEstimation</a> (<span class="keywordtype">bool</span> random = <span class="keyword">false</span>) :</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a85fe8fd0e4cb0c2545a9d35a692779df">radii_interval_</a>(0),</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#ae2e2952dc77471b30709cebac6bab76e">theta_divisions_</a>(0),</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#af37e905bdf176c47880c445bdcd9ac60">phi_divisions_</a>(0),</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#ac39c10aa538ee073380d3964018555df">volume_lut_</a>(0),</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#ab28ac10387cb3bc71558978b90a28d22">azimuth_bins_</a>(12),</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a762b3cbc8f6420d1b0b8d7503fb2c8f8">elevation_bins_</a>(11),</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#ac4c71b13f9c2cbd7485d2c0112e383a7">radius_bins_</a>(15),</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a9a33a2c7d4d33c22a2b8532dba05b0bf">min_radius_</a>(0.1),</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#aa752ddd8a5b0501f6b6dcbfd133ffa47">point_density_radius_</a>(0.2),</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a7fd6c41d61c56517d19e26778fa92f76">descriptor_length_</a> (),</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a022a53081bcabfa5d0d577bb09f91dcb">rng_alg_</a> (),</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#ad39576a8cf02518d3ad574e0b67d5f9f">rng_</a> (new boost::uniform_01&lt;boost::mt19937&gt; (<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a022a53081bcabfa5d0d577bb09f91dcb">rng_alg_</a>))</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      {</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a> = <span class="stringliteral">&quot;ShapeContext3DEstimation&quot;</span>;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">search_radius_</a> = 2.5;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="comment">// Create a random number generator object</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keywordflow">if</span> (random)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;          <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#ad39576a8cf02518d3ad574e0b67d5f9f">rng_</a>-&gt;base ().seed (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span><span class="keyword">&gt;</span> (std::time(0)));</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;          <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#ad39576a8cf02518d3ad574e0b67d5f9f">rng_</a>-&gt;base ().seed (12345u);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      }</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html">ShapeContext3DEstimation</a>() {}</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="comment">//inline void</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="comment">//setAzimuthBins (size_t bins) { azimuth_bins_ = bins; }</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#abdad8bc5cffcdcfa48d20f8e396f3986">  126</a></span>&#160;      <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#abdad8bc5cffcdcfa48d20f8e396f3986">getAzimuthBins</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#ab28ac10387cb3bc71558978b90a28d22">azimuth_bins_</a>); }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <span class="comment">//inline void</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="comment">//setElevationBins (size_t bins) { elevation_bins_ = bins; }</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a437bf58b90c9e5faeb261f5df4890ca7">  133</a></span>&#160;      <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a437bf58b90c9e5faeb261f5df4890ca7">getElevationBins</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a762b3cbc8f6420d1b0b8d7503fb2c8f8">elevation_bins_</a>); }</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      <span class="comment">//inline void</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      <span class="comment">//setRadiusBins (size_t bins) { radius_bins_ = bins; }</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a480b163bc075649d7d24d5424e0205f4">  140</a></span>&#160;      <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a480b163bc075649d7d24d5424e0205f4">getRadiusBins</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#ac4c71b13f9c2cbd7485d2c0112e383a7">radius_bins_</a>); }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a1797a3547853cde1cb8b7d53dba359be">  146</a></span>&#160;      <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a1797a3547853cde1cb8b7d53dba359be">setMinimalRadius</a> (<span class="keywordtype">double</span> radius) { <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a9a33a2c7d4d33c22a2b8532dba05b0bf">min_radius_</a> = radius; }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#af7031bdf8cd4b2a948bc6f25767518cc">  150</a></span>&#160;      <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#af7031bdf8cd4b2a948bc6f25767518cc">getMinimalRadius</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a9a33a2c7d4d33c22a2b8532dba05b0bf">min_radius_</a>); }</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#aff1671ba68b09cb865057443aff9bd55">  157</a></span>&#160;      <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#aff1671ba68b09cb865057443aff9bd55">setPointDensityRadius</a> (<span class="keywordtype">double</span> radius) { <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#aa752ddd8a5b0501f6b6dcbfd133ffa47">point_density_radius_</a> = radius; }</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a99b84d1f4079f42014ae6bd91d65f856">  161</a></span>&#160;      <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a99b84d1f4079f42014ae6bd91d65f856">getPointDensityRadius</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#aa752ddd8a5b0501f6b6dcbfd133ffa47">point_density_radius_</a>); }</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a5f2b4043f9c1fe8be14570debee1d453">initCompute</a> ();</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#aa2e72af449246ae73d6bebe190b3952b">computePoint</a> (<span class="keywordtype">size_t</span> index, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> &amp;normals, <span class="keywordtype">float</span> rf[9], std::vector&lt;float&gt; &amp;desc);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a8e6b76212b516113b8f6ea0254ecb607">computeFeature</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a85fe8fd0e4cb0c2545a9d35a692779df">  186</a></span>&#160;      std::vector&lt;float&gt; <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a85fe8fd0e4cb0c2545a9d35a692779df">radii_interval_</a>;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#ae2e2952dc77471b30709cebac6bab76e">  189</a></span>&#160;      std::vector&lt;float&gt; <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#ae2e2952dc77471b30709cebac6bab76e">theta_divisions_</a>;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#af37e905bdf176c47880c445bdcd9ac60">  192</a></span>&#160;      std::vector&lt;float&gt; <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#af37e905bdf176c47880c445bdcd9ac60">phi_divisions_</a>;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#ac39c10aa538ee073380d3964018555df">  195</a></span>&#160;      std::vector&lt;float&gt; <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#ac39c10aa538ee073380d3964018555df">volume_lut_</a>;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#ab28ac10387cb3bc71558978b90a28d22">  198</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#ab28ac10387cb3bc71558978b90a28d22">azimuth_bins_</a>;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a762b3cbc8f6420d1b0b8d7503fb2c8f8">  201</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a762b3cbc8f6420d1b0b8d7503fb2c8f8">elevation_bins_</a>;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#ac4c71b13f9c2cbd7485d2c0112e383a7">  204</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#ac4c71b13f9c2cbd7485d2c0112e383a7">radius_bins_</a>;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a9a33a2c7d4d33c22a2b8532dba05b0bf">  207</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a9a33a2c7d4d33c22a2b8532dba05b0bf">min_radius_</a>;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#aa752ddd8a5b0501f6b6dcbfd133ffa47">  210</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#aa752ddd8a5b0501f6b6dcbfd133ffa47">point_density_radius_</a>;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a7fd6c41d61c56517d19e26778fa92f76">  213</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a7fd6c41d61c56517d19e26778fa92f76">descriptor_length_</a>;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a022a53081bcabfa5d0d577bb09f91dcb">  216</a></span>&#160;      boost::mt19937 <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a022a53081bcabfa5d0d577bb09f91dcb">rng_alg_</a>;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#ad39576a8cf02518d3ad574e0b67d5f9f">  219</a></span>&#160;      boost::shared_ptr&lt;boost::uniform_01&lt;boost::mt19937&gt; &gt; <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#ad39576a8cf02518d3ad574e0b67d5f9f">rng_</a>;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;     <span class="comment">/*  \brief Shift computed descriptor &quot;L&quot; times along the azimuthal direction</span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;<span class="comment">       * \param[in] block_size the size of each azimuthal block</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;<span class="comment">       * \param[in] desc at input desc == original descriptor and on output it contains</span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;<span class="comment">       *  shifted descriptor resized descriptor_length_ * azimuth_bins_</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;<span class="comment">       */</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      <span class="comment">//void</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      <span class="comment">//shiftAlongAzimuth (size_t block_size, std::vector&lt;float&gt;&amp; desc);</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#aae1babe70add7791ef954d3f458db73f">  231</a></span>&#160;      <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#aae1babe70add7791ef954d3f458db73f">rnd</a> ()</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      {</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        <span class="keywordflow">return</span> ((*<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#ad39576a8cf02518d3ad574e0b67d5f9f">rng_</a>) ());</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      }</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  };</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;}</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/3dsc.hpp&gt;</span></div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_3DSC_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals</a></div><div class="ttdef"><b>Definition:</b> feature.h:311</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a2c52e9b0412b8ce790837b24cd99f0af"><div class="ttname"><a href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">pcl::Feature::search_radius_</a></div><div class="ttdeci">double search_radius_</div><div class="ttdoc">The nearest neighbors search radius for each point.</div><div class="ttdef"><b>Definition:</b> feature.h:239</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a54032b79551164878ff59ed93b5c1dc5"><div class="ttname"><a href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">pcl::Feature::feature_name_</a></div><div class="ttdeci">std::string feature_name_</div><div class="ttdoc">The feature name.</div><div class="ttdef"><b>Definition:</b> feature.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html">pcl::ShapeContext3DEstimation</a></div><div class="ttdoc">ShapeContext3DEstimation implements the 3D shape context descriptor as described in:</div><div class="ttdef"><b>Definition:</b> 3dsc.h:73</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a022a53081bcabfa5d0d577bb09f91dcb"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a022a53081bcabfa5d0d577bb09f91dcb">pcl::ShapeContext3DEstimation::rng_alg_</a></div><div class="ttdeci">boost::mt19937 rng_alg_</div><div class="ttdoc">Boost-based random number generator algorithm.</div><div class="ttdef"><b>Definition:</b> 3dsc.h:216</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a1797a3547853cde1cb8b7d53dba359be"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a1797a3547853cde1cb8b7d53dba359be">pcl::ShapeContext3DEstimation::setMinimalRadius</a></div><div class="ttdeci">void setMinimalRadius(double radius)</div><div class="ttdoc">The minimal radius value for the search sphere (rmin) in the original paper</div><div class="ttdef"><b>Definition:</b> 3dsc.h:146</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a437bf58b90c9e5faeb261f5df4890ca7"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a437bf58b90c9e5faeb261f5df4890ca7">pcl::ShapeContext3DEstimation::getElevationBins</a></div><div class="ttdeci">size_t getElevationBins()</div><div class="ttdef"><b>Definition:</b> 3dsc.h:133</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a480b163bc075649d7d24d5424e0205f4"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a480b163bc075649d7d24d5424e0205f4">pcl::ShapeContext3DEstimation::getRadiusBins</a></div><div class="ttdeci">size_t getRadiusBins()</div><div class="ttdef"><b>Definition:</b> 3dsc.h:140</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a5f2b4043f9c1fe8be14570debee1d453"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a5f2b4043f9c1fe8be14570debee1d453">pcl::ShapeContext3DEstimation::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdoc">Initialize computation by allocating all the intervals and the volume lookup table.</div><div class="ttdef"><b>Definition:</b> 3dsc.hpp:50</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a762b3cbc8f6420d1b0b8d7503fb2c8f8"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a762b3cbc8f6420d1b0b8d7503fb2c8f8">pcl::ShapeContext3DEstimation::elevation_bins_</a></div><div class="ttdeci">size_t elevation_bins_</div><div class="ttdoc">Bins along the elevation dimension</div><div class="ttdef"><b>Definition:</b> 3dsc.h:201</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a7fd6c41d61c56517d19e26778fa92f76"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a7fd6c41d61c56517d19e26778fa92f76">pcl::ShapeContext3DEstimation::descriptor_length_</a></div><div class="ttdeci">size_t descriptor_length_</div><div class="ttdoc">Descriptor length</div><div class="ttdef"><b>Definition:</b> 3dsc.h:213</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a85fe8fd0e4cb0c2545a9d35a692779df"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a85fe8fd0e4cb0c2545a9d35a692779df">pcl::ShapeContext3DEstimation::radii_interval_</a></div><div class="ttdeci">std::vector&lt; float &gt; radii_interval_</div><div class="ttdoc">Values of the radii interval</div><div class="ttdef"><b>Definition:</b> 3dsc.h:186</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a8e6b76212b516113b8f6ea0254ecb607"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a8e6b76212b516113b8f6ea0254ecb607">pcl::ShapeContext3DEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Estimate the actual feature.</div><div class="ttdef"><b>Definition:</b> 3dsc.hpp:279</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a99b84d1f4079f42014ae6bd91d65f856"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a99b84d1f4079f42014ae6bd91d65f856">pcl::ShapeContext3DEstimation::getPointDensityRadius</a></div><div class="ttdeci">double getPointDensityRadius()</div><div class="ttdef"><b>Definition:</b> 3dsc.h:161</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a9a33a2c7d4d33c22a2b8532dba05b0bf"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a9a33a2c7d4d33c22a2b8532dba05b0bf">pcl::ShapeContext3DEstimation::min_radius_</a></div><div class="ttdeci">double min_radius_</div><div class="ttdoc">Minimal radius value</div><div class="ttdef"><b>Definition:</b> 3dsc.h:207</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_aa2e72af449246ae73d6bebe190b3952b"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#aa2e72af449246ae73d6bebe190b3952b">pcl::ShapeContext3DEstimation::computePoint</a></div><div class="ttdeci">bool computePoint(size_t index, const pcl::PointCloud&lt; PointNT &gt; &amp;normals, float rf[9], std::vector&lt; float &gt; &amp;desc)</div><div class="ttdoc">Estimate a descriptor for a given point.</div><div class="ttdef"><b>Definition:</b> 3dsc.hpp:130</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_aa752ddd8a5b0501f6b6dcbfd133ffa47"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#aa752ddd8a5b0501f6b6dcbfd133ffa47">pcl::ShapeContext3DEstimation::point_density_radius_</a></div><div class="ttdeci">double point_density_radius_</div><div class="ttdoc">Point density radius</div><div class="ttdef"><b>Definition:</b> 3dsc.h:210</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_aae1babe70add7791ef954d3f458db73f"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#aae1babe70add7791ef954d3f458db73f">pcl::ShapeContext3DEstimation::rnd</a></div><div class="ttdeci">double rnd()</div><div class="ttdoc">Boost-based random number generator.</div><div class="ttdef"><b>Definition:</b> 3dsc.h:231</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_ab28ac10387cb3bc71558978b90a28d22"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#ab28ac10387cb3bc71558978b90a28d22">pcl::ShapeContext3DEstimation::azimuth_bins_</a></div><div class="ttdeci">size_t azimuth_bins_</div><div class="ttdoc">Bins along the azimuth dimension</div><div class="ttdef"><b>Definition:</b> 3dsc.h:198</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_abdad8bc5cffcdcfa48d20f8e396f3986"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#abdad8bc5cffcdcfa48d20f8e396f3986">pcl::ShapeContext3DEstimation::getAzimuthBins</a></div><div class="ttdeci">size_t getAzimuthBins()</div><div class="ttdef"><b>Definition:</b> 3dsc.h:126</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_ac39c10aa538ee073380d3964018555df"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#ac39c10aa538ee073380d3964018555df">pcl::ShapeContext3DEstimation::volume_lut_</a></div><div class="ttdeci">std::vector&lt; float &gt; volume_lut_</div><div class="ttdoc">Volumes look up table</div><div class="ttdef"><b>Definition:</b> 3dsc.h:195</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_ac4c71b13f9c2cbd7485d2c0112e383a7"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#ac4c71b13f9c2cbd7485d2c0112e383a7">pcl::ShapeContext3DEstimation::radius_bins_</a></div><div class="ttdeci">size_t radius_bins_</div><div class="ttdoc">Bins along the radius dimension</div><div class="ttdef"><b>Definition:</b> 3dsc.h:204</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_ad39576a8cf02518d3ad574e0b67d5f9f"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#ad39576a8cf02518d3ad574e0b67d5f9f">pcl::ShapeContext3DEstimation::rng_</a></div><div class="ttdeci">boost::shared_ptr&lt; boost::uniform_01&lt; boost::mt19937 &gt; &gt; rng_</div><div class="ttdoc">Boost-based random number generator distribution.</div><div class="ttdef"><b>Definition:</b> 3dsc.h:219</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_ae2e2952dc77471b30709cebac6bab76e"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#ae2e2952dc77471b30709cebac6bab76e">pcl::ShapeContext3DEstimation::theta_divisions_</a></div><div class="ttdeci">std::vector&lt; float &gt; theta_divisions_</div><div class="ttdoc">Theta divisions interval</div><div class="ttdef"><b>Definition:</b> 3dsc.h:189</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_aec9b00c71722e6956c4769a64c8558be"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#aec9b00c71722e6956c4769a64c8558be">pcl::ShapeContext3DEstimation::ShapeContext3DEstimation</a></div><div class="ttdeci">ShapeContext3DEstimation(bool random=false)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> 3dsc.h:95</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_af37e905bdf176c47880c445bdcd9ac60"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#af37e905bdf176c47880c445bdcd9ac60">pcl::ShapeContext3DEstimation::phi_divisions_</a></div><div class="ttdeci">std::vector&lt; float &gt; phi_divisions_</div><div class="ttdoc">Phi divisions interval</div><div class="ttdef"><b>Definition:</b> 3dsc.h:192</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_af7031bdf8cd4b2a948bc6f25767518cc"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#af7031bdf8cd4b2a948bc6f25767518cc">pcl::ShapeContext3DEstimation::getMinimalRadius</a></div><div class="ttdeci">double getMinimalRadius()</div><div class="ttdef"><b>Definition:</b> 3dsc.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_aff1671ba68b09cb865057443aff9bd55"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#aff1671ba68b09cb865057443aff9bd55">pcl::ShapeContext3DEstimation::setPointDensityRadius</a></div><div class="ttdeci">void setPointDensityRadius(double radius)</div><div class="ttdoc">This radius is used to compute local point density density = number of points within this radius</div><div class="ttdef"><b>Definition:</b> 3dsc.h:157</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
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